Merge pull request #135 from hmakelin/better-builds

Use mavros from package index instead of building from source

Author: hmakelin

README.md

@@ -85,9 +85,7 @@ listener sensor_gps
 
 [5]: https://docs.px4.io/main/en/debug/mavlink_shell.html#qgroundcontrol
 
-## Build and run SITL simulation
-
-Stop all simulation services with the below command:
+Finally, you can stop all simulation services with the below command:
 
 ```bash
 gnc stop

debian/gisnav/DEBIAN/postinst

@@ -2,7 +2,7 @@
 set -e
 
 # Change to the directory where the docker-compose.yml is located
-cd /etc/gisnav/docker
+#cd /etc/gisnav/docker
 
 # The gnc CLI tool should be provided with this package
 # We prepare containers here as part of the installation process so that the

debian/gisnav/DEBIAN/postrm

@@ -30,4 +30,12 @@ else
     echo "docker command not found. Skipping docker compose down."
 fi
 
+# Remove /etc/gisnav folder and all contents
+#if [ -d "/etc/gisnav" ]; then
+#    rm -rf /etc/gisnav
+#    echo "Successfully removed /etc/gisnav and all its contents."
+#else
+#    echo "/etc/gisnav does not exist. Skipping removal."
+#fi
+
 exit 0

debian/gisnav/Makefile

@@ -8,7 +8,7 @@ SHELL := /bin/bash
 PACKAGE_NAME = gisnav
 BUILD_DIR = build
 DIST_DIR = dist
-REPO_ROOT_PATH = ../..
+REPO_ROOT_PATH = $(shell realpath ../..)
 ARCHITECTURE = all
 
 # Get the latest git tag and format the version string
@@ -28,7 +28,7 @@ all: dist
 # Phony target for cleaning the build directory
 .PHONY: clean
 clean:
-	@rm -rf $(BUILD_DIR) $(DIST_DIR)
+	@rm -rf $(MAKEFILE_DIR)$(BUILD_DIR) $(MAKEFILE_DIR)$(DIST_DIR)
 
 .PHONY: distclean
 distclean:
@@ -78,31 +78,18 @@ $(BUILD_DIR)/etc/systemd:
 	@mkdir -p $@
 	@cp -r etc/systemd/ $@
 
-# We need to copy .git to make git describe work for the docs (docs are built
-# with git version string). pre-commit might also need the .git folder.
-# TODO: only copy over a shallow copy of git repo  - we do not need entire history
-# nor all branches
-$(BUILD_DIR)/etc/gisnav: $(BUILD_DIR)/etc/gisnav/ros $(BUILD_DIR)/etc/gisnav/docker $(BUILD_DIR)/etc/gisnav/docs
-	@dest=debian/gisnav/$@ && \
-	mkdir -p $@ && \
-	touch $(BUILD_DIR)/COLCON_IGNORE && \
-	cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' Makefile .pre-commit-config.yaml LICENSE.md README.md pyproject.toml .git $$dest
-
-$(BUILD_DIR)/etc/gisnav/ros:
-	@dest=debian/gisnav/$@ && \
-	mkdir -p $@ && \
-	touch $(BUILD_DIR)/COLCON_IGNORE && \
-	cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' ros/ $$dest
-	@echo -e "\033[1;33;40mWarning! Check the file list above that no unintended files were copied over to the distributable.\033[0m"
-
-$(BUILD_DIR)/etc/gisnav/docker:
-	@dest=debian/gisnav/$@ && \
-	mkdir -p $@ && \
-	cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' docker/ $$dest
-	@echo -e "\033[1;33;40mWarning! Check the file list above that no unintended files were copied over to the distributable.\033[0m"
-
-$(BUILD_DIR)/etc/gisnav/docs:
-	@dest=debian/gisnav/$@ && \
-	mkdir -p $@ && \
-	touch $(BUILD_DIR)/COLCON_IGNORE && \
-	cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' docs/ $$dest
+# We need a shallow copy of git repo to make git describe work for the docs
+# (docs are built with git version string). pre-commit might also need the
+# .git folder.
+# We also grab any uncommitted changes from the local repo and apply them
+# as a patch to the shallow copy, to make development more convenient. We apply
+# staged changes first, and then unstaged changes (we create a combined patch
+# file)
+$(BUILD_DIR)/etc/gisnav:
+	@mkdir -p $@
+	@touch $(BUILD_DIR)/COLCON_IGNORE
+	@git clone --depth 1 file://${REPO_ROOT_PATH} $@
+	@cd ${REPO_ROOT_PATH} && git diff --cached > /tmp/gisnav-diff.patch \
+	&& git diff >> /tmp/gisnav-diff.patch
+	@cd $@ && git apply /tmp/gisnav-diff.patch
+	@rm -rf /tmp/gisnav-diff.patch

docker/mavros/Dockerfile

@@ -4,59 +4,29 @@ FROM ros:${ROS_DISTRO} as mavros-msgs
 ARG ROS_DISTRO
 ENV ROS_DISTRO=${ROS_DISTRO}
 
-# Combine apt update, upgrade and cleaning up in one layer
-RUN apt update --fix-missing && \
-    apt -y upgrade
-
 SHELL ["/bin/bash", "-c"]
 
-WORKDIR /opt/colcon_ws/src/
-
 # Install GeographicLib related dependencies
 # Also add universe repository for ROS packages
 # tcpdump for health checks
-RUN apt-get -y install software-properties-common wget curl tcpdump && \
+# Need mavros-extras for the gimbal_control plugin (mavros-extras v2.8+)
+RUN apt-get update && \
+    apt-get -y install software-properties-common wget curl tcpdump && \
     add-apt-repository ppa:ubuntugis/ppa && \
     add-apt-repository universe && \
     apt-get update && \
-    apt-get -y install gdal-bin libgdal-dev geographiclib-tools && \
-    geographiclib-get-geoids egm96-5
-
-# Get mavros with gimbal protocol v2 plugin and build mavros_msgs only
-# mavros_msgs is needed by both downstream images so it is already built here
-# adds an additional custom patch to gps_input.cpp
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    git clone --branch 2.8.0 https://github.com/mavlink/mavros.git && \
-    rosdep update && \
-    apt-get update && \
-    rosdep install --from-paths . --ignore-src -y && \
-    cd .. && \
-    colcon build --packages-ignore mavros mavros_extras libmavconn && \
-    sed -i 's/rclcpp::Time last_pos_time;/rclcpp::Time last_pos_time{0, 0, get_clock()->get_clock_type()};/' \
-      src/mavros/mavros_extras/src/plugins/gps_input.cpp
+    apt-get -y install gdal-bin libgdal-dev geographiclib-tools ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras && \
+    geographiclib-get-geoids egm96-5 && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean
 
+RUN mkdir -p /opt/colcon_ws/src
 
 FROM mavros-msgs AS mavros
 ARG ROS_DISTRO
 
 WORKDIR /opt/colcon_ws/
 
-COPY mavros/filter_plugins.sh /opt/colcon_ws/src/mavros
-
-# Build mavros and mavros_extras gimbal protocol v2 (gimbal_control) plugin
-# We use the filter_plugins.sh script to disable unneeded plugins to significantly
-# speed up build time and use of memory.
-# mavros_msgs was built earlier so we ignore it here
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
-    && source install/setup.bash \
-    && cd src/mavros \
-    && ./filter_plugins.sh \
-    && cd /opt/colcon_ws/ \
-    && colcon build --packages-ignore mavros_msgs
-
-RUN rm -rf /var/lib/apt/lists/* && \
-    apt clean
-
 COPY mavros/entrypoint.sh /
 
 RUN chmod 755 /entrypoint.sh
@@ -129,9 +99,10 @@ RUN curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | b
 
 COPY Makefile .pre-commit-config.yaml LICENSE.md README.md pyproject.toml /opt/colcon_ws/src/gisnav/
 
-# .git needed to make pre-commit and git describe work
-# TODO: solve this in a better way - we have an unnecessarily large git
-#  history in the container
-COPY .git /opt/colcon_ws/src/gisnav/.git
+# .git needed to make pre-commit and git describe work. We create a shallow
+# copy of the repo to avoid carrying over all of commit history.
+COPY .git /tmp/gisnav/.git
+RUN git clone --depth 1 /tmp/gisnav/.git /opt/colcon_ws/src/gisnav/.git && \
+    rm -rf /tmp/gisnav/.git
 
 ENTRYPOINT ["/entrypoint.sh"]

docker/mavros/mavros/entrypoint.sh

@@ -2,6 +2,5 @@
 set -e
 
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "/opt/colcon_ws/install/setup.bash" --
 
 exec "$@"

docker/mavros/mavros/filter_plugins.sh

@@ -284,7 +284,7 @@ Used to refer to the [vehicle](#vehicle), typically in a [ROS](#ros-ros-2) conte
 
 ### Rotation
 
-Most likely rotation of the [reference raster](#reference-reference-image-reference-raster) when aligning it with the [FOV](#fov--fov). This is done in [pose](#pose) estimation because the neural [networks](#network) are not assumed to be rotation agnostic.
+Most likely rotation of the [reference raster](#reference-reference-image-reference-raster) when aligning it with the [FOV](#fov-fov). This is done in [pose](#pose) estimation because the neural [networks](#network) are not assumed to be rotation agnostic.
 
 ### Service
 - A [Docker Compose](#docker-compose) service